code: def build_projection_matrix(w, h, fov):
      focal = w / (2.0 * np.tan(fov * np.pi / 360.0))
      K = np.identity(3)
      K[0, 0] = K[1, 1] = focal
      K[0, 2] = w / 2.0
      K[1, 2] = h / 2.0
      return K
  
imports: import glob
  import os
  import sys
  import math
  import argparse
  import copy
  import time
  from multiprocessing import Pool
  from PIL import Image
  import carla
  import random
label_desc: Use image node_id 1 for calling a global function with example usage: build_projection_matrix(w, h, fov) and returns: K